CN108381207A - A kind of six-freedom worktable and control method - Google Patents
A kind of six-freedom worktable and control method Download PDFInfo
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- CN108381207A CN108381207A CN201810392302.6A CN201810392302A CN108381207A CN 108381207 A CN108381207 A CN 108381207A CN 201810392302 A CN201810392302 A CN 201810392302A CN 108381207 A CN108381207 A CN 108381207A
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- 230000009471 action Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
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- 239000007787 solid Substances 0.000 claims 1
- 238000005555 metalworking Methods 0.000 abstract description 2
- 238000009987 spinning Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010010356 Congenital anomaly Diseases 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4804—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed perpendicularly by a single sliding pair
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- Sewing Machines And Sewing (AREA)
Abstract
A kind of six-freedom worktable and control method belong to metal working machine tool technical field, including pedestal, Z axis swivel mount, Y-axis movable stand, Z axis movement and the rotating integrated frame of X-axis, Y-axis swivel mount, the X-axis moving table being arranged from bottom to up with this；The pedestal is installed with vertically arranged rotation stepping motor, and the Z axis swivel mount is installed on the output end of rotation stepping motor；The Z axis swivel mount is slidably connected with Y-axis movable stand；It is provided with cylinder between the Y-axis movable stand and the mobile rotating integrated frame with X-axis of Z axis；It is hinged with Z axis movement and the rotating integrated frame of X-axis on the right side of the Y-axis swivel mount；The Y-axis swivel mount and X-axis moving table are slidably connected.This workbench realizes the spinning movement in tri- directions of translation motion and XYZ in tri- directions XYZ, solve the problems, such as when processing complex parts cannot disposable completion of processing, need holding parts again.
Description
Technical field
The invention belongs to metal working machine tool technical fields, and in particular to be a kind of six-freedom worktable and controlling party
Method.
Background technology
In industrial production and manufacturing, common is machined with lathe process, digital control processing, processing of robots etc., is adding
When the complicated part of work machinery, often there is processing blind area (inside parts, part back side etc.), cannot disposable completion of processing, all
It needs part to disassemble, again holding parts, reposition, it is comparatively laborious.
When processing heavy parts, since common workbench is immovable or rotation, one of heavy parts can only be processed
Point, so the problems such as meeting segmental machining, low to cause processing quality, and processing efficiency is low.
Common workbench volume is all bigger, and worker cannot take the quality of processing part into account in time when manipulating lathe,
It is easy to process substandard products.In processing, due to congenital, the height of worker is different with right-hand man's use habit, leads
Cause brings inconvenience when processing part, and excessively high too low, left-handed the worker of workbench is in right-hand side operation etc..So existing
Some workbench cannot be applicable in.
Invention content
It is an object of the invention to overcome defect and deficiency mentioned above, and provide a kind of six-freedom worktable.
Another object of the present invention is to provide the control methods of above-mentioned six-freedom worktable.
The present invention realizes that the technical solution that its purpose uses is as follows.
A kind of six-freedom worktable, including the pedestal, Z axis swivel mount, Y-axis movable stand, the Z axis that are arranged from bottom to up with this
Mobile and the rotating integrated frame of X-axis, Y-axis swivel mount, X-axis moving table；The pedestal is installed with vertically arranged rotation
Stepping motor, the Z axis swivel mount are installed on the output end of rotation stepping motor；The Z axis swivel mount and Y-axis movable stand
It is slidably connected；It is provided with cylinder between the Y-axis movable stand and the mobile rotating integrated frame with X-axis of Z axis；The Y-axis swivel mount is right
Side and Z axis movement and the rotating integrated frame of X-axis are hinged；The Y-axis swivel mount and X-axis moving table are slidably connected.
The pedestal offers ring-shaped guide rail；And rotate the circle centre position that stepping motor is located at ring-shaped guide rail；The Z axis rotation
Pivoted frame bottom thread is equipped with the first locking nut；First locking nut is arranged in ring-shaped guide rail.
The Z axis swivel mount offers front and back the first T-rail being oriented to；The Y-axis movable stand is located on Z axis swivel mount
Side, and Y-axis movable stand is equipped with the first T-shaped block；First T-shaped block is embedded at the first T-rail；The Z axis swivel mount peace
Equipped with first straight line stepping motor；The first straight line stepping motor output end is equipped with parallel with the first T-rail
First leading screw；First leading screw is threadedly coupled with Y-axis movable stand.
The quadrangle of Y-axis movable stand upper surface is separately installed with the first vertically arranged cylinder, the second cylinder, third gas
Cylinder, the 4th cylinder；The first cylinder output end, the second cylinder output end, third cylinder output end, the 4th cylinder output end are equal
It is hinged with Z axis movement and the rotating integrated frame of X-axis.
The first vertically arranged locking device is installed at left and right sides of Y-axis movable stand rear portion；Described first
Locking device is in strip, and offers strip hole；The left and right sides screw thread of the Z axis movement and the rotating integrated frame rear portion of X-axis
Rotation locking nut is installed；The rotation locking nut is arranged in the strip hole of the first locking device.
Y-axis swivel mount is installed above the Z axis movement and the rotating integrated frame of X-axis；Preferably, the Y-axis swivel mount
Electromechanical door hinge is installed between right side and the mobile rotating integrated frame with X-axis of Z axis；Before the Z axis movement and the rotating integrated frame of X-axis
It is installed with the second locking device on the left of portion；Second locking device offers the strip hole of arcuation, and the second locking dress
The center of circle for the strip hole set is located at Y-axis swivel mount and Z axis movement and the rotating integrated frame hinged place of X-axis；Before the Y-axis swivel mount
End left side is threaded with third locking nut；The third locking nut is arranged in the strip hole of the second locking device；The Z
Axis is moved is installed with the 5th cylinder with the rotating integrated frame upper surface of X-axis；The output end of 5th cylinder and Y-axis swivel mount
It is hinged.
The X-axis moving table is located above Y-axis swivel mount, and X-axis moving table is equipped with the second T-shaped block；Institute
It states Y-axis swivel mount and offers the second T-rail that left and right is oriented to；Second T-shaped block is embedded at the second T-rail；The Y-axis
Swivel mount is equipped with second straight line stepping motor；The second straight line stepping motor output end is equipped with leads with the 2nd T shapes
The second parallel leading screw of rail；Second leading screw is threadedly coupled with X-axis moving table.
A kind of six-freedom worktable further includes the second locking nut, centripetal angular contact bearing, embedded fixed block, fixation
Frame, cross axle；The embedded fixed block is fixedly installed in Z axis movement and the rotating integrated frame bottom of X-axis；The cross axle is arranged in
Embedded fixed block and fixed frame and the laying of horizontal left and right directions；The heart angular contact bearing be installed on cross axle and fixed frame it
Between；The fixed frame is fixedly installed in the output end of the first cylinder, the second cylinder, third cylinder, the 4th cylinder；Second lock
Tight nut thread is installed on the output shaft of the first cylinder, the second cylinder, third cylinder, the 4th cylinder, and is divided into fixed frame
Upper and lower both sides.
A kind of control method of six-freedom worktable, which is characterized in that include the following steps：
Step 1, the Z axis rotation angle of workbench is adjusted：When unscrewing the first locking nut, rotation stepping motor action, band
Dynamic Z axis swivel mount rotation, to realize that Z axis swivel mount rotates about the z axis；When tightening the first locking nut, pedestal and Z axis rotation
Frame is fixedly connected；
Step 2, the Y-axis distance of workbench is adjusted：The first straight line stepping motor action, drives the rotation of the first leading screw；The
One leading screw drives Y-axis movable stand along the first T-rail rectilinear translation, realizes the linearly operating of the Y-axis of Y-axis movable stand；
Step 3, the X-axis rotation angle of workbench is adjusted：When two cylinder movements at Y-axis movable stand rear act, first locks
Device is rotated around X-axis, and rotary distance can be read in the first locking device, and according to the principle of triangle, obtains the first locking dress
Set the rotation angle rotated around X-axis；
Step 4, the Z axis distance of workbench is adjusted：Four cylinder synchronization actions above Y-axis movable stand, then Z axis is mobile and X
The rotating integrated frame of axis can realize that upper and lower translation action, the distance of translation can be read in the first locking device in Z-direction；
Step 5, the Y-axis rotation angle of workbench is adjusted：When third locking nut unclamps, the 5th cylinder movement drives Y-axis rotation
Pivoted frame is rotated around Y-axis swivel mount and Z axis movement with the rotating integrated frame hinged place of X-axis, to realize the Y-axis rotation of Y-axis swivel mount,
The angle of rotation can be read in the second locking device；When third locking nut screwing, revolved with X-axis to position Z axis movement
Turn the relative position of integrated frame, Y-axis swivel mount；
Step 6, the X-axis distance of workbench is adjusted：The second straight line stepping motor action, drives the rotation of the second leading screw；The
Two leading screws drive X-axis moving table along the second T-rail linearly operating, complete the linearly operating of X-axis
This workbench realizes the spinning movement in tri- directions of translation motion and XYZ in tri- directions XYZ, solves processing
When complex parts cannot disposable completion of processing, need the problem of holding parts again, solve heavy parts need to be segmented plus
The problem of work, solves the problems, such as cannot in time to take into account since lathe is excessive part quality, also solve due to worker's height and
Right-hand man's use habit and the uncoordinated problem of work on hand platform.
The present invention has following advantage compared with prior art：
1 is simple in structure, and production cost is low；
2 can disposably process complex parts and heavy parts, improve work efficiency；
3 more hommizations, just with operation；
4 improve the yield rate of part processing.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the right side structural representation of the present invention；
Fig. 4 is the left view structural representation of the present invention；
Fig. 5 is the overlooking structure diagram of pedestal；
Fig. 6 is the installation diagram of centripetal angular contact bearing；
Fig. 7 is the installation diagram of fixed frame sum；
In figure：Pedestal 1, Z axis swivel mount 2, Y-axis movable stand 3, Z axis movement and the rotating integrated frame 4 of X-axis, Y-axis swivel mount 5, X-axis are moved
Dynamic workbench 6, control device 7, rotation stepping motor 8, ring-shaped guide rail 9, the first tie down screw 10, the first T-rail 11, the
One linear stepping motor 12, the first leading screw 13, the first locking device 14, electromechanical door hinge 15, the second locking device 16, first
Cylinder 17, the second T-rail 18, second straight line stepping motor 19, the second leading screw 20, the second tie down screw 21, the second cylinder
22, third cylinder 23, the 4th cylinder 24, the 5th cylinder 25, the first locking nut 26, the second locking nut 27, centripetal angular contact
Bearing 28, embedded fixed block 29, fixed frame 30, cross axle 31.
Specific implementation mode
Below in conjunction with the accompanying drawings, invention is further described in detail.
In order to better illustrate the technical program, Fig. 2 is the front view of the application, and left and right directions is X-direction, before
Rear direction is Y direction, and upper and lower directions is Z-direction.It is worth noting that, front and back up and down wait the nouns of locality, for more
Good description the technical program, is not the limitation to the technical program.
A kind of six-freedom worktable, including：Pedestal 1, Z axis swivel mount 2, Y-axis movable stand 3, Z axis movement are rotated with X-axis
Integrated frame 4, Y-axis swivel mount 5, X-axis moving table 6.
The pedestal 1 offers ring-shaped guide rail 9；The pedestal 1 is installed with vertically arranged rotation stepping motor
8, and rotate the circle centre position that stepping motor 8 is located at ring-shaped guide rail 9.
The Z axis swivel mount 2 is located at 1 top of pedestal and is installed on the output end of rotation stepping motor 8.
2 bottom thread of Z axis swivel mount is equipped with the first locking nut 26；First locking nut 26 is arranged in ring
Shape guide rail 9.
When unscrewing the first locking nut 26, rotation stepping motor 8 acts, and Z axis swivel mount 2 is driven to rotate, to real
Existing Z axis swivel mount 2 rotates about the z axis；When tightening the first locking nut 26, pedestal 1 is fixedly connected with Z axis swivel mount 2.
The Z axis swivel mount 2 offers front and back the first T-rail 11 being oriented to；The Y-axis movable stand 3 is located at Z axis rotation
2 top of frame, and Y-axis movable stand 3 is equipped with the first T-shaped block；First T-shaped block is embedded at the first T-rail 11.As excellent
Choosing, first T-rail 11 has two, and is divided into 2 both sides of Z axis swivel mount.It is straight that the Z axis swivel mount 2 is equipped with first
Line stepping motor 12；12 output end of first straight line stepping motor is equipped with first parallel with the first T-rail 11
Leading screw 13；First leading screw 13 is threadedly coupled with Y-axis movable stand 3.
The first straight line stepping motor 12 acts, and drives the rotation of the first leading screw 13；First leading screw 13 drives Y-axis movement
Frame 3 realizes the linearly operating of the Y-axis of Y-axis movable stand 3 along 11 rectilinear translation of the first T-rail.
The top of the Y-axis movable stand 3 is equipped with the rotating integrated frame of Z axis movement and X-axis 4；3 upper surface of Y-axis movable stand
Quadrangle be separately installed with the first vertically arranged cylinder 17, the second cylinder 22, third cylinder 23, the 4th cylinder 24.First gas
Cylinder 17 is located at 3 right rear side of Y-axis movable stand；Second cylinder 22 is located at 3 right forward side of Y-axis movable stand；23, third cylinder
In 3 left forward side of Y-axis movable stand；4th cylinder 24 is located at 3 left rear side of Y-axis movable stand.First cylinder, 17 output end,
Two cylinders, 22 output end, 23 output end of third cylinder, 24 output end of the 4th cylinder are cut with scissors with Z axis movement and the rotating integrated frame 4 of X-axis
It connects.Further, this workbench further includes the second locking nut 27, centripetal angular contact bearing 28, embedded fixed block 29, fixed frame
30, cross axle 31；The embedded fixed block 29 is fixedly installed in Z axis movement and rotating integrated 4 bottom of frame of X-axis；The cross axle
31 are arranged in embedded fixed block 29 and fixed frame 30 and the laying of horizontal left and right directions；The heart angular contact bearing 28 is installed on cross
Between axis 31 and fixed frame 30；The fixed frame 30 is fixedly installed in the first cylinder 17, the second cylinder 22, third cylinder 23,
The output end of four cylinders 24.Second locking nut, 27 screw thread is installed on the first cylinder 17, the second cylinder 22, third cylinder
23, the output shaft of the 4th cylinder 24, and it is divided into the both sides up and down of fixed frame 30.By the both sides up and down for tightening fixed frame 30
Second locking nut 27, to which fixed frame 30 to be installed on to the output shaft of cylinder.
The first vertically arranged locking device 14 is installed at left and right sides of 3 rear portion of Y-axis movable stand；Described
One locking device 14 is in strip, and offers strip hole；The left and right sides of the Z axis movement and rotating integrated 4 rear portion of frame of X-axis
Screw thread is equipped with rotation locking nut；The rotation locking nut is arranged in the strip hole of the first locking device 14.
When two cylinder movements (the first cylinder 17 and the 4th cylinder 24) at 3 rear of Y-axis movable stand act, the first locking fills
It sets 14 to rotate around X-axis, rotary distance can be read in the first locking device 14, and according to the principle of triangle, it is known that three edge lengths,
It recycles antitrigonometric function to obtain angle of rotation angle value, obtains the rotation angle that the first locking device 14 is rotated around X-axis.
When four cylinder synchronization actions of the top of Y-axis movable stand 3, then the rotating integrated frame of Z axis movement and X-axis 4 can be in Z axis side
To realization upper and lower translation action, the distance of translation can be read in the first locking device 14.
The Z axis movement is equipped with Y-axis swivel mount 5 with rotating integrated 4 top of frame of X-axis；5 right side of the Y-axis swivel mount and Z
Axis moves hinged with the rotating integrated frame 4 of X-axis.Preferably, 5 right side of the Y-axis swivel mount and Z axis movement are rotating integrated with X-axis
Electromechanical door hinge 15 is installed between frame 4.The Z axis movement is installed with the second lock with rotating integrated 4 front left of frame of X-axis
Tight device 16；Second locking device 16 offers the strip hole of arcuation, and the center of circle of the strip hole of the second locking device 16
Positioned at Y-axis swivel mount 5 and Z axis movement and rotating integrated 4 hinged place of frame of X-axis；Screw thread connects on the left of the front end of the Y-axis swivel mount 5
It is connected to third locking nut；The third locking nut is arranged in the strip hole of the second locking device 16.
The Z axis movement is installed with the 5th cylinder 25 with rotating integrated 4 upper surface of frame of X-axis；5th cylinder 25
Output end and Y-axis swivel mount 5 it is hinged.
When third locking nut unclamps, the action of the 5th cylinder 25 drives Y-axis swivel mount 5 to be moved around Y-axis swivel mount 5 and Z axis
Dynamic to be rotated with rotating integrated 4 hinged place of frame of X-axis, to realize the Y-axis rotation of Y-axis swivel mount 5, the angle of rotation can be second
Locking device 16 is read.When third locking nut screwing, to position Z axis movement and the rotating integrated frame 4 of X-axis, Y-axis swivel mount
5 relative position.
The X-axis moving table 6 is located at 5 top of Y-axis swivel mount, and X-axis moving table 6 is equipped with the second T-shaped block；
The Y-axis swivel mount 5 offers the second T-rail 18 that left and right is oriented to；Second T-shaped block is embedded at the second T-rail 18.
Preferably, second T-rail 18 there are two, and it is divided into 5 front and rear sides of Y-axis swivel mount.
The Y-axis swivel mount 5 is equipped with second straight line stepping motor 19；The second straight line stepping motor 19 exports
End is equipped with second leading screw 20 parallel with the second T-rail 18；Second leading screw 20 connects with 6 screw thread of X-axis moving table
It connects.
Second straight line stepping motor 19 acts, and drives the rotation of the second leading screw 20；Second leading screw 20 drives X-axis mobile working
Platform 6 completes the linearly operating of X-axis along 18 linearly operating of the second T-rail.
The pedestal 1 is equipped with control device 7, controls the movement and rotation of workbench.
A kind of control method of six-freedom worktable, includes the following steps：
Step 1, the Z axis rotation angle of workbench is adjusted：When unscrewing the first locking nut 26, rotation stepping motor 8 acts,
Z axis swivel mount 2 is driven to rotate, to realize that Z axis swivel mount 2 rotates about the z axis；When tightening the first locking nut 26,1 He of pedestal
Z axis swivel mount 2 is fixedly connected；
Step 2, the Y-axis distance of workbench is adjusted：The first straight line stepping motor 12 acts, and drives the rotation of the first leading screw 13
Turn；First leading screw 13 drives Y-axis movable stand 3 along 11 rectilinear translation of the first T-rail, realizes the straight of the Y-axis of Y-axis movable stand 3
Line acts；
Step 3, the X-axis rotation angle of workbench is adjusted：When two cylinder movements at 3 rear of Y-axis movable stand act, first locks
Device 14 is rotated around X-axis, and rotary distance can be read in the first locking device 14, and according to the principle of triangle, obtain the first lock
The rotation angle that tight device 14 is rotated around X-axis；
Step 4, the Z axis distance of workbench is adjusted：When four cylinder synchronization actions of the top of Y-axis movable stand 3, then Z axis is mobile and X
The rotating integrated frame of axis 4 can realize that upper and lower translation action, the distance of translation can be read in the first locking device 14 in Z-direction；
Step 5, the Y-axis rotation angle of workbench is adjusted：When third locking nut unclamps, the action of the 5th cylinder 25 drives Y-axis
Swivel mount 5 is rotated around Y-axis swivel mount 5 and Z axis movement with rotating integrated 4 hinged place of frame of X-axis, to realize the Y of Y-axis swivel mount 5
Axis rotates, and the angle of rotation can be read in the second locking device 16；When third locking nut screwing, moved to position Z axis
The dynamic relative position with the rotating integrated frame 4 of X-axis, Y-axis swivel mount 5；
Step 6, the X-axis distance of workbench is adjusted：The second straight line stepping motor 19 acts, and drives the rotation of the second leading screw 20
Turn；Second leading screw 20 drives X-axis moving table 6 along 18 linearly operating of the second T-rail, completes the linearly operating of X-axis.
The present invention is illustrated according to embodiment, under the premise of not departing from present principles, if the present apparatus can also make
Dry modification and improvement.It should be pointed out that all technical solutions obtained using modes such as equivalent substitution or equivalent transformations, all fall within this
In the protection domain of invention.
Claims (9)
1. a kind of six-freedom worktable, which is characterized in that including the pedestal being arranged from bottom to up with this（1）, Z axis swivel mount
（2）, Y-axis movable stand（3）, Z axis movement with the rotating integrated frame of X-axis（4）, Y-axis swivel mount（5）, X-axis moving table（6）；It is described
Pedestal（1）It is installed with vertically arranged rotation stepping motor（8）, the Z axis swivel mount（2）It is installed on rotation stepping electricity
Motivation（8）Output end；The Z axis swivel mount（2）With Y-axis movable stand（3）It is slidably connected；The Y-axis movable stand（3）And Z axis
The mobile and rotating integrated frame of X-axis（4）Between be provided with cylinder；The Y-axis swivel mount（5）Right side rotates one with Z axis movement with X-axis
Body frame（4）It is hinged；The Y-axis swivel mount（5）And X-axis moving table（6）It is slidably connected.
2. a kind of six-freedom worktable as described in claim 1, which is characterized in that the pedestal（1）Annular is offered to lead
Rail（9）；And rotation stepping motor（8）Positioned at ring-shaped guide rail（9）Circle centre position；The Z axis swivel mount（2）Bottom thread is installed
There is the first locking nut（26）；First locking nut（26）It is arranged in ring-shaped guide rail（9）.
3. a kind of six-freedom worktable as claimed in claim 2, which is characterized in that the Z axis swivel mount（2）Before offering
The first T-rail being oriented to afterwards（11）；The Y-axis movable stand（3）Positioned at Z axis swivel mount（2）Top, and Y-axis movable stand（3）Peace
Equipped with the first T-shaped block；First T-shaped block is embedded at the first T-rail（11）；The Z axis swivel mount（2）It is straight to be equipped with first
Line stepping motor（12）；The first straight line stepping motor（12）Output end is equipped with and the first T-rail（11）It is parallel
The first leading screw（13）；First leading screw（13）With Y-axis movable stand（3）It is threadedly coupled.
4. a kind of six-freedom worktable as claimed in claim 3, which is characterized in that the Y-axis movable stand（3）Upper surface
Quadrangle is separately installed with the first vertically arranged cylinder（17）, the second cylinder（22）, third cylinder（23）, the 4th cylinder（24）；
First cylinder（17）Output end, the second cylinder（22）Output end, third cylinder（23）Output end, the 4th cylinder（24）Output
It is moved and the rotating integrated frame of X-axis with Z axis at end（4）It is hinged.
5. a kind of six-freedom worktable as claimed in claim 4, which is characterized in that the Y-axis movable stand（3）The left side at rear portion
Right both sides are installed with the first vertically arranged locking device（14）；First locking device（14）In strip, and open
Equipped with strip hole；The Z axis movement and the rotating integrated frame of X-axis（4）The left and right sides screw thread at rear portion is equipped with rotation locking nut；
The rotation locking nut is arranged in the first locking device（14）Strip hole.
6. a kind of six-freedom worktable as claimed in claim 5, which is characterized in that the Z axis movement is rotating integrated with X-axis
Frame（4）Top is equipped with Y-axis swivel mount（5）；Preferably, the Y-axis swivel mount（5）Right side rotates one with Z axis movement with X-axis
Body frame（4）Between electromechanical door hinge is installed（15）；The Z axis movement and the rotating integrated frame of X-axis（4）Front left is fixedly mounted
There is the second locking device（16）；Second locking device（16）Offer the strip hole of arcuation, and the second locking device（16）
The center of circle of strip hole be located at Y-axis swivel mount（5）With Z axis movement and the rotating integrated frame of X-axis（4）Hinged place；The Y-axis swivel mount
（5）Front end on the left of be threaded with third locking nut；The third locking nut is arranged in the second locking device（16）'s
Strip hole；The Z axis movement and the rotating integrated frame of X-axis（4）Upper surface is installed with the 5th cylinder（25）；5th cylinder
（25）Output end and Y-axis swivel mount（5）It is hinged.
7. a kind of six-freedom worktable as claimed in claim 6, which is characterized in that the X-axis moving table（6）It is located at
Y-axis swivel mount（5）Top, and X-axis moving table（6）Second T-shaped block is installed；The Y-axis swivel mount（5）Offer left and right
The second T-rail being oriented to（18）；Second T-shaped block is embedded at the second T-rail（18）；The Y-axis swivel mount（5）Installation
There is second straight line stepping motor（19）；The second straight line stepping motor（19）Output end is equipped with and the second T-rail
（18）The second parallel leading screw（20）；Second leading screw（20）With X-axis moving table（6）It is threadedly coupled.
8. a kind of six-freedom worktable as claimed in claim 4, which is characterized in that further include the second locking nut（27）、
Centripetal angular contact bearing（28）, embedded fixed block（29）, fixed frame（30）, cross axle（31）；The embedded fixed block（29）Gu
Dingan County is loaded on Z axis movement and the rotating integrated frame of X-axis（4）Bottom；The cross axle（31）It is arranged in embedded fixed block（29）With it is solid
Determine frame（30）And horizontal left and right directions is laid；The heart angular contact bearing（28）It is installed on cross axle（31）And fixed frame（30）It
Between；The fixed frame（30）It is fixedly installed in the first cylinder（17）, the second cylinder（22）, third cylinder（23）, the 4th cylinder
（24）Output end；Second locking nut（27）Screw thread is installed on the first cylinder（17）, the second cylinder（22）, third cylinder
（23）, the 4th cylinder（24）Output shaft, and be divided into fixed frame（30）Both sides up and down.
9. using a kind of control method of six-freedom worktable as claimed in claim 7, which is characterized in that including walking as follows
Suddenly：
Step 1, the Z axis rotation angle of workbench is adjusted：When unscrewing the first locking nut（26）When, rotate stepping motor（8）
Action drives Z axis swivel mount（2）Rotation, to realize Z axis swivel mount（2）It rotates about the z axis；When tightening the first locking nut
（26）When, pedestal（1）With Z axis swivel mount（2）It is fixedly connected；
Step 2, the Y-axis distance of workbench is adjusted：The first straight line stepping motor（12）Action drives the first leading screw（13）
Rotation；First leading screw（13）Drive Y-axis movable stand（3）Along the first T-rail（11）Rectilinear translation realizes Y-axis movable stand（3）
Y-axis linearly operating；
Step 3, the X-axis rotation angle of workbench is adjusted：When Y-axis movable stand（3）Two cylinder movements at rear act, the first lock
Tight device（14）It is rotated around X-axis, rotary distance can be in the first locking device（14）It reads, and according to the principle of triangle, obtains
First locking device（14）The rotation angle rotated around X-axis；
Step 4, the Z axis distance of workbench is adjusted：When Y-axis movable stand（3）Four cylinder synchronization actions of top, then Z axis movement
With the rotating integrated frame of X-axis（4）Upper and lower translation action can be realized in Z-direction, the distance of translation can be in the first locking device
（14）It reads；
Step 5, the Y-axis rotation angle of workbench is adjusted：When third locking nut unclamps, the 5th cylinder（25）Action drives Y
Axis swivel mount（5）Around Y-axis swivel mount（5）With Z axis movement and the rotating integrated frame of X-axis（4）Hinged place rotates, to realize that Y-axis is revolved
Pivoted frame（5）Y-axis rotation, the angle of rotation can be in the second locking device（16）It reads；When third locking nut screwing, from
And position Z axis movement and the rotating integrated frame of X-axis（4）, Y-axis swivel mount（5）Relative position；
Step 6, the X-axis distance of workbench is adjusted：The second straight line stepping motor（19）Action drives the second leading screw（20）
Rotation；Second leading screw（20）Drive X-axis moving table（6）Along the second T-rail（18）Linearly operating completes the straight of X-axis
Line acts.
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